Cnv_PosErrOffset Statement

Sets value to correct the position deviation between the current tracking position and target.

Syntax
Cnv_PosErrOffset conveyorNumber, offsetValue

Parameters

conveyorNumber: Specify the conveyor number as an integer (1-16).
offsetValue: Specify the time to predict the conveyor speed as a real number (0 to 255, unit: msec).

Description
Repeating the operation of stopping and starting the conveyor during conveyor tracking worsens the position deviation between the tracking position and target due to the delay in the robot's tracking of the conveyor's speed changes.

Conveyor tracking can improve the position deviation by predicting the conveyor speed after a time set by the offset value.

Cnv_PosErrOffset is available only in variable speed conveyor mode. In picking quantity-priority mode and picking accuracy-priority mode, the position deviation cannot be improved by setting an offset value.

Notes

This command will only work if the Conveyor Tracking option is active.

See Also
Cnv_Mode, Cnv_PosErr

Cnv_PosErrOffset Statement Example

Cnv_Mode 1, 2    ' Variable speed conveyor mode
Cnv_PosErrOffset 1, 10    ' Offset value 10 msec

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